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<h1 class="reftitle">mpt_import</h1>
<h2>Purpose</h2>
<p>Converts sysStruct and probStruct into an MPT3 prediction model</p>
<h2>Syntax</h2>
<pre class="synopsis">model = mpt_import(sysStruct, probStruct)</pre>
<h2>Description</h2>
<p></p> 
    
      <tt>model = mpt_import(sysStruct, probStruct)</tt> converts
    MPT2-styled control problem, described by <tt>sysStruct</tt> and
    <tt>probStruct</tt> structures, into an MPT3 prediction model. The
    model can then be used for synthesis of MPC controllers via
    <tt>controller = MPCController(model)</tt>.<br><br>


    The following list shows which fields of <tt>sysStruct</tt> and
    <tt>probStruct</tt> can be automatically converted and what are
    their respective equivalents in MPT3:
    <ul>
      
         <li>
            <tt>sysStruct.xmin</tt>: <tt>model.x.min</tt>
         </li>
      
         <li>
            <tt>sysStruct.xmax</tt>: <tt>model.x.max</tt>
         </li>
      
         <li>
            <tt>sysStruct.umin</tt>: <tt>model.u.min</tt>
         </li>
      
         <li>
            <tt>sysStruct.umax</tt>: <tt>model.u.max</tt>
         </li>
      
         <li>
            <tt>sysStruct.ymin</tt>: <tt>model.y.min</tt>
         </li>
      
         <li>
            <tt>sysStruct.ymax</tt>: <tt>model.y.max</tt>
         </li>
      
         <li>
            <tt>probStruct.Q</tt>: <tt>model.x.penalty</tt>
         </li>
      
         <li>
            <tt>probStruct.R</tt>: <tt>model.u.penalty</tt>
         </li>
      
         <li>
            <tt>probStruct.Qy</tt>: <tt>model.y.penalty</tt>
         </li>
      
         <li>
            <tt>probStruct.P_N</tt>: <tt>model.x.terminalPenalty</tt>
         </li>
      
         <li>
            <tt>probStruct.Tset</tt>: <tt>model.x.terminalSet</tt>
         </li>
      
         <li>
            <tt>probStruct.xref</tt>: <tt>model.x.reference</tt>
         </li>
      
         <li>
            <tt>probStruct.uref</tt>: <tt>model.u.reference</tt>
         </li>
      
         <li>
            <tt>probStruct.yref</tt>: <tt>model.y.reference</tt>
         </li>
      
         <li>
            <tt>probStruct.tracking</tt>: currently only
      <tt>tracking=0</tt> is supported</li>
      
         <li>
            <tt>probStruct.Nc</tt>: <tt>model.u.block</tt>
         </li>
      
         <li>
            <tt>probStruct.sxmax</tt>: <tt>model.x.softMin</tt> and <tt>model.x.softMax</tt>
         </li>
      
         <li>
            <tt>probStruct.sumax</tt>: <tt>model.u.softMin</tt> and <tt>model.u.softMax</tt>
         </li>
      
         <li>
            <tt>probStruct.symax</tt>: <tt>model.y.softMin</tt> and <tt>model.y.softMax</tt>
         </li>
      
         <li>
            <tt>probStruct.subopt_lev</tt>: currently only
      <tt>subopt_lev=0</tt> is supported. Use <tt>ctrl =
      EMinTimeController(model)</tt> to obtain a minimum-time controller</li>
    
      </ul>
  
   <h2>Input Arguments</h2>
<table cellspacing="0" class="body" cellpadding="4" border="0" width="100%">
<colgroup>
<col width="31%">
<col width="69%">
</colgroup>
<tbody>
<tr valign="top">
<td><tt>sysStruct</tt></td>
<td>
<p></p>System structure<p>
	    		Class: <tt>struct</tt></p>
</td>
</tr>
<tr valign="top">
<td><tt>probStruct</tt></td>
<td>
<p></p>Problem structure<p>
	    		Class: <tt>struct</tt></p>
</td>
</tr>
</tbody>
</table>
<h2>Output Arguments</h2>
<table cellspacing="0" class="body" cellpadding="4" border="0" width="100%">
<colgroup>
<col width="31%">
<col width="69%">
</colgroup>
<tbody><tr valign="top">
<td><tt>model</tt></td>
<td>
<p></p>Prediction model</td>
</tr></tbody>
</table>
<p></p>
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<br><p>©  <b>2003-2013</b>     Michal Kvasnica: STU Bratislava,    <a href="mailto:michal.kvasnica@stuba.sk">michal.kvasnica@stuba.sk</a></p>
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